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[wpimath] Replace Speeds with Velocities (#8479)

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I left "free speed" alone since that's the technical term for it. In
general, velocity is a vector quantity, and speed is a magnitude (i.e.,
a strictly positive value).

This PR also replaces the speed verbiage in MotorController with duty
cycle.

Fixes #8423.
This commit is contained in:
Tyler Veness
2026-03-06 14:19:15 -08:00
committed by GitHub
parent 1e39f39128
commit 9bd9656871
594 changed files with 8073 additions and 7875 deletions
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12
robotpyExamples/XrpReference/commands/arcadedrive.py
View File

@@ -13,22 +13,22 @@ class ArcadeDrive(commands2.Command):
def __init__(
self,
drive: Drivetrain,
xaxisSpeedSupplier: typing.Callable[[], float],
xaxisVelocitySupplier: typing.Callable[[], float],
zaxisRotateSupplier: typing.Callable[[], float],
) -> None:
"""Creates a new ArcadeDrive. This command will drive your robot according to the speed supplier
"""Creates a new ArcadeDrive. This command will drive your robot according to the velocity supplier
lambdas. This command does not terminate.
:param drivetrain: The drivetrain subsystem on which this command will run
:param xaxisSpeedSupplier: Callable supplier of forward/backward speed
:param zaxisRotateSupplier: Callable supplier of rotational speed
:param xaxisVelocitySupplier: Callable supplier of forward/backward velocity
:param zaxisRotateSupplier: Callable supplier of rotational velocity
"""
self.drive = drive
self.xaxisSpeedSupplier = xaxisSpeedSupplier
self.xaxisVelocitySupplier = xaxisVelocitySupplier
self.zaxisRotateSupplier = zaxisRotateSupplier
self.addRequirements(self.drive)
def execute(self) -> None:
self.drive.arcadeDrive(self.xaxisSpeedSupplier(), self.zaxisRotateSupplier())
self.drive.arcadeDrive(self.xaxisVelocitySupplier(), self.zaxisRotateSupplier())

10
robotpyExamples/XrpReference/commands/drivedistance.py
View File

@@ -10,17 +10,17 @@ from subsystems.drivetrain import Drivetrain
class DriveDistance(commands2.Command):
def __init__(self, speed: float, inches: float, drive: Drivetrain) -> None:
def __init__(self, velocity: float, inches: float, drive: Drivetrain) -> None:
"""Creates a new DriveDistance. This command will drive your your robot for a desired distance at
a desired speed.
a desired velocity.
:param speed: The speed at which the robot will drive
:param velocity: The velocity at which the robot will drive
:param inches: The number of inches the robot will drive
:param drive: The drivetrain subsystem on which this command will run
"""
self.distance = inches
self.speed = speed
self.velocity = velocity
self.drive = drive
self.addRequirements(drive)
@@ -31,7 +31,7 @@ class DriveDistance(commands2.Command):
def execute(self) -> None:
"""Called every time the scheduler runs while the command is scheduled."""
self.drive.arcadeDrive(self.speed, 0)
self.drive.arcadeDrive(self.velocity, 0)
def end(self, interrupted: bool) -> None:
"""Called once the command ends or is interrupted."""

12
robotpyExamples/XrpReference/commands/drivetime.py
View File

@@ -11,17 +11,17 @@ from subsystems.drivetrain import Drivetrain
class DriveTime(commands2.Command):
"""Creates a new DriveTime. This command will drive your robot for a desired speed and time."""
"""Creates a new DriveTime. This command will drive your robot for a desired velocity and time."""
def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:
"""Creates a new DriveTime. This command will drive your robot for a desired speed and time.
def __init__(self, velocity: float, time: float, drive: Drivetrain) -> None:
"""Creates a new DriveTime. This command will drive your robot for a desired velocity and time.
:param speed: The speed which the robot will drive. Negative is in reverse.
:param velocity: The velocity which the robot will drive. Negative is in reverse.
:param time: How much time to drive in seconds
:param drive: The drivetrain subsystem on which this command will run
"""
self.speed = speed
self.velocity = velocity
self.duration = time
self.drive = drive
self.addRequirements(drive)
@@ -35,7 +35,7 @@ class DriveTime(commands2.Command):
def execute(self) -> None:
"""Called every time the scheduler runs while the command is scheduled."""
self.drive.arcadeDrive(self.speed, 0)
self.drive.arcadeDrive(self.velocity, 0)
def end(self, interrupted: bool) -> None:
"""Called once the command ends or is interrupted."""

10
robotpyExamples/XrpReference/commands/turndegrees.py
View File

@@ -11,17 +11,17 @@ from subsystems.drivetrain import Drivetrain
class TurnDegrees(commands2.Command):
def __init__(self, speed: float, degrees: float, drive: Drivetrain) -> None:
def __init__(self, velocity: float, degrees: float, drive: Drivetrain) -> None:
"""Creates a new TurnDegrees. This command will turn your robot for a desired rotation (in
degrees) and rotational speed.
degrees) and rotational velocity.
:param speed: The speed which the robot will drive. Negative is in reverse.
:param velocity: The velocity which the robot will drive. Negative is in reverse.
:param degrees: Degrees to turn. Leverages encoders to compare distance.
:param drive: The drive subsystem on which this command will run
"""
self.degrees = degrees
self.speed = speed
self.velocity = velocity
self.drive = drive
self.addRequirements(drive)
@@ -33,7 +33,7 @@ class TurnDegrees(commands2.Command):
def execute(self) -> None:
"""Called every time the scheduler runs while the command is scheduled."""
self.drive.arcadeDrive(0, self.speed)
self.drive.arcadeDrive(0, self.velocity)
def end(self, interrupted: bool) -> None:
"""Called once the command ends or is interrupted."""

10
robotpyExamples/XrpReference/commands/turntime.py
View File

@@ -12,18 +12,18 @@ from subsystems.drivetrain import Drivetrain
class TurnTime(commands2.Command):
"""Creates a new TurnTime command. This command will turn your robot for a
desired rotational speed and time.
desired rotational velocity and time.
"""
def __init__(self, speed: float, time: float, drive: Drivetrain) -> None:
def __init__(self, velocity: float, time: float, drive: Drivetrain) -> None:
"""Creates a new TurnTime.
:param speed: The speed which the robot will turn. Negative is in reverse.
:param velocity: The velocity which the robot will turn. Negative is in reverse.
:param time: How much time to turn in seconds
:param drive: The drive subsystem on which this command will run
"""
self.rotationalSpeed = speed
self.rotationalVelocity = velocity
self.duration = time
self.drive = drive
self.addRequirements(drive)
@@ -37,7 +37,7 @@ class TurnTime(commands2.Command):
def execute(self) -> None:
"""Called every time the scheduler runs while the command is scheduled."""
self.drive.arcadeDrive(0, self.rotationalSpeed)
self.drive.arcadeDrive(0, self.rotationalVelocity)
def end(self, interrupted: bool) -> None:
"""Called once the command ends or is interrupted."""

6
robotpyExamples/XrpReference/subsystems/drivetrain.py
View File

@@ -54,14 +54,14 @@ class Drivetrain(commands2.Subsystem):
)
self.resetEncoders()
def arcadeDrive(self, xaxisSpeed: float, zaxisRotate: float) -> None:
def arcadeDrive(self, xaxisVelocity: float, zaxisRotate: float) -> None:
"""
Drives the robot using arcade controls.
:param xaxisSpeed: the commanded forward movement
:param xaxisVelocity: the commanded forward movement
:param zaxisRotate: the commanded rotation
"""
self.drive.arcadeDrive(xaxisSpeed, zaxisRotate)
self.drive.arcadeDrive(xaxisVelocity, zaxisRotate)
def resetEncoders(self) -> None:
"""Resets the drive encoders to currently read a position of 0."""